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VW PQ: Update HCA Status to use Mode 2 (Status 7) (#2722)

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* VW PQ: Update HCA Status to use Mode 2 (Status 7)

* VW PQ: update PQ safety test to use HCA status 7

---------

Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>
This commit is contained in:
T3vl
2026-01-05 08:09:01 -06:00
committed by GitHub
parent c866a53b04
commit d12538dd9e
2 changed files with 2 additions and 2 deletions
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2
opendbc/car/volkswagen/pqcan.py
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@@ -2,7 +2,7 @@ def create_steering_control(packer, bus, apply_torque, lkas_enabled):
values = {
"LM_Offset": abs(apply_torque),
"LM_OffSign": 1 if apply_torque < 0 else 0,
"HCA_Status": 5 if (lkas_enabled and apply_torque != 0) else 3,
"HCA_Status": 7 if (lkas_enabled and apply_torque != 0) else 3,
"Vib_Freq": 16,
}

2
opendbc/safety/tests/test_volkswagen_pq.py
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@@ -62,7 +62,7 @@ class TestVolkswagenPqSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeri
return self.packer.make_can_msg_safety("Lenkhilfe_3", 0, values)
# openpilot steering output torque
def _torque_cmd_msg(self, torque, steer_req=1, hca_status=5):
def _torque_cmd_msg(self, torque, steer_req=1, hca_status=7):
values = {"LM_Offset": abs(torque), "LM_OffSign": torque < 0, "HCA_Status": hca_status if steer_req else 3}
return self.packer.make_can_msg_safety("HCA_1", 0, values)